amiro-os / test / periphery-lld / DW1000_v1 / aos_test_DW1000.c @ 35880232
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#include <aos_test_DW1000.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <aos_debug.h> |
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#include <chprintf.h> |
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#include <aos_thread.h> |
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#include <math.h> |
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#include <module.h> |
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#include <alld_DW1000.h> |
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#include <deca_instance.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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#define TEST_SNIPPETS_DW1000 // switch between test and demo apps |
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#define SWS1_SHF_MODE 0x02 //short frame mode (6.81M) |
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#define SWS1_CH5_MODE 0x04 //channel 5 mode |
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#define SWS1_ANC_MODE 0x08 //anchor mode |
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#define SWS1_A1A_MODE 0x10 //anchor/tag address A1 |
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#define SWS1_A2A_MODE 0x20 //anchor/tag address A2 |
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#define SWS1_A3A_MODE 0x40 //anchor/tag address A3 |
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#define S1_SWITCH_ON (1) |
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#define S1_SWITCH_OFF (0) |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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uint8_t s1switch = 0;
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int instance_anchaddr = 0; |
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int dr_mode = 0; |
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int chan, tagaddr, ancaddr;
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int instance_mode = ANCHOR;
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/*! @brief Manually reset the DW1000 module */
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void reset_DW1000(void){ |
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// Set the pin as output
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palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
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//drive the RSTn pin low
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apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
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//put the pin back to tri-state ... as input
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// palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
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aosThdMSleep(2);
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} |
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/*! @brief Configure instance tag/anchor/etc... addresses */
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void addressconfigure(uint8_t s1switch, uint8_t mode){
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uint16_t instAddress ; |
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instance_anchaddr = (((s1switch & SWS1_A1A_MODE) << 2) + (s1switch & SWS1_A2A_MODE) + ((s1switch & SWS1_A3A_MODE) >> 2)) >> 4; |
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if(mode == ANCHOR) {
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if(instance_anchaddr > 3) { |
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instAddress = GATEWAY_ANCHOR_ADDR | 0x4 ; //listener |
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} |
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else {
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instAddress = GATEWAY_ANCHOR_ADDR | (uint16_t)instance_anchaddr; |
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} |
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} |
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else{
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instAddress = (uint16_t)instance_anchaddr; |
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} |
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instancesetaddresses(instAddress); |
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} |
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/*! @brief returns the use case / operational mode */
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int decarangingmode(uint8_t s1switch){
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int mode = 0; |
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if(s1switch & SWS1_SHF_MODE) {
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mode = 1;
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} |
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if(s1switch & SWS1_CH5_MODE) {
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mode = mode + 2;
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} |
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return mode;
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} |
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/*! @brief Check connection setting and initialize DW1000 module */
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int32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv){ |
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uint32_t devID ; |
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int result;
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setHighSpeed_SPI(FALSE, drv); //low speed spi max. ~4M
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devID = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != devID) {
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clear_SPI_chip_select(); |
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Sleep(1);
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set_SPI_chip_select(); |
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Sleep(7);
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devID = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != devID){
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return(-1) ; |
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} |
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dwt_softreset(); |
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} |
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reset_DW1000(); //reset the DW1000 by driving the RSTn line low
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if((s1switch & SWS1_ANC_MODE) == 0){ |
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instance_mode = TAG; |
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} |
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else{
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instance_mode = ANCHOR; |
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} |
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result = instance_init(drv) ; |
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if (0 > result){ |
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return(-1) ; |
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} |
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setHighSpeed_SPI(TRUE, drv); // high speed spi max. ~ 20M
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devID = instancereaddeviceid() ; |
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if (DWT_DEVICE_ID != devID){
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return(-1) ; |
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} |
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addressconfigure(s1switch, (uint8_t)instance_mode) ; |
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if((instance_mode == ANCHOR) && (instance_anchaddr > 0x3)){ |
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instance_mode = LISTENER; |
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} |
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instancesetrole(instance_mode) ; // Set this instance role
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dr_mode = decarangingmode(s1switch); |
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chan = chConfig[dr_mode].channelNumber ; |
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instance_config(&chConfig[dr_mode], &sfConfig[dr_mode], drv) ; |
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return (int32_t)devID;
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} |
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/*! @brief Main Entry point to Initialization of UWB DW1000 configuration */
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#pragma GCC optimize ("O3") |
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int UWB_Init(DW1000Driver* drv){
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/*! Software defined Configurartion for TAG, ANC, and other settings as needed */
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s1switch = S1_SWITCH_OFF << 1 // (on = 6.8 Mbps, off = 110 kbps) |
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| S1_SWITCH_OFF << 2 // (on = CH5, off = CH2) |
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| S1_SWITCH_OFF << 3 // (on = Anchor, off = TAG) |
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| S1_SWITCH_OFF << 4 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 5 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 6 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 7; // Not use in this demo |
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port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
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if(inittestapplication(s1switch, drv) == -1) { |
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return (-1); //error |
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} |
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aosThdMSleep(5);
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port_EnableEXT_IRQ(); //enable DW1000 IRQ before starting
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return 0; |
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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aos_testresult_t aosTestDw1000Func(BaseSequentialStream* stream, const aos_test_t* test) {
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aosDbgCheck(test->data != NULL &&
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((aos_test_dw1000data_t*)test->data)->driver != NULL &&
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((aos_test_dw1000data_t*)test->data)->evtsource != NULL);
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aos_testresult_t result = {0, 0}; |
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chprintf(stream, "init DW1000...\n");
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dwt_initialise(DWT_LOADUCODE, ((aos_test_dw1000data_t*)test->data)->driver); |
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aosThdMSleep(5);
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/*! Test snippets for DW1000.
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* @Note: Event IRQ for DW1000 should be tested separately
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*/
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#if defined(TEST_SNIPPETS_DW1000)
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uint32_t actual_deviceId; |
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port_DisableEXT_IRQ(); |
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setHighSpeed_SPI(false, ((aos_test_dw1000data_t*)test->data)->driver);
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chprintf(stream, "expected device ID (LS SPI): 0xDECA0130\n");
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aosThdMSleep(5);
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actual_deviceId = instancereaddeviceid(); |
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chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
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aosThdMSleep(5);
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//if the read of device ID fails, the DW1000 could be asleep
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if(DWT_DEVICE_ID != actual_deviceId){
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clear_SPI_chip_select(); |
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aosThdMSleep(1);
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set_SPI_chip_select(); |
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aosThdMSleep(7);
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actual_deviceId = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != actual_deviceId){
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chprintf(stream, "SPI is not working or Unsupported Device ID\n");
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chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
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chprintf(stream, "expected device ID: 0xDECA0130\n");
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aosThdMSleep(5);
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} |
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//clear the sleep bit - so that after the hard reset below the DW does not go into sleep
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dwt_softreset(); |
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} |
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/*! Test1: Low speed SPI result */
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if (actual_deviceId == DWT_DEVICE_ID){
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aosTestPassed(stream, &result); |
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} else {
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aosTestFailed(stream, &result); |
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} |
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reset_DW1000(); |
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chprintf(stream, "initialise instance for DW1000\n");
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aosThdSleep(1);
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int x_init = instance_init(((aos_test_dw1000data_t*)test->data)->driver) ;
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if (0 != x_init){ |
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chprintf(stream, "init error with return value: %d\n", x_init);
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aosThdSleep(1);
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} |
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else {
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chprintf(stream, "init success with return value: %d\n", x_init);
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aosThdSleep(1);
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} |
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/*! Test2: Initialization result*/
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if (x_init == 0){ |
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aosTestPassed(stream, &result); |
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} else {
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aosTestFailed(stream, &result); |
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} |
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setHighSpeed_SPI(true, ((aos_test_dw1000data_t*)test->data)->driver);
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chprintf(stream, "expected device ID (HS SPI): 0xDECA0130\n");
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actual_deviceId = instancereaddeviceid(); |
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chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
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aosThdMSleep(1);
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/*! Test3: High speed SPI result*/
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if (actual_deviceId == DWT_DEVICE_ID){
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aosTestPassed(stream, &result); |
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} else {
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aosTestFailed(stream, &result); |
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} |
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port_EnableEXT_IRQ(); |
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reset_DW1000(); |
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chprintf(stream, "initialise the configuration for UWB application\n");
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aosThdSleep(1);
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int uwb_init = UWB_Init(((aos_test_dw1000data_t*)test->data)->driver);
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if (0 != uwb_init){ |
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chprintf(stream, "UWB config error with return value: %d\n", uwb_init);
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aosThdSleep(1);
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} |
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else {
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chprintf(stream, "UWB config success with return value: %d\n", uwb_init);
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aosThdSleep(1);
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} |
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/*! Test4: UWB configuration result
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* If all the four tests are passed, the module is ready to run.
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* Note that the interrupt IRQn should be tested separately.
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*/
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if (uwb_init == 0){ |
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aosTestPassed(stream, &result); |
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} else {
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aosTestFailed(stream, &result); |
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} |
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/************** End of TEST_SNIPPETS_DW1000*****************/
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#else /* defined(TEST_SNIPPETS_DW1000) */ |
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/*! RUN THE STATE MACHINE DEMO APP (RTLS) */
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chprintf(stream, "initialise the State Machine\n");
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aosThdSleep(2);
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/* Initialize UWB system with user defined configuration */
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int uwb_init = UWB_Init(((aos_test_dw1000data_t*)test->data)->driver);
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if (0 != uwb_init){ |
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chprintf(stream, "error in UWB config with return value: %d\n", uwb_init);
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} |
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else {
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chprintf(stream, "succeed the init of UWB config\n");
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} |
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aosThdSleep(1);
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chprintf(stream, "running the RTLS demo application ...\n");
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aosThdSleep(1);
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/*! Run the localization system demo app as a thread */
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while(1){ |
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instance_run(); |
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// aosThdUSleep(100);
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} |
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#endif /* defined(TEST_SNIPPETS_DW1000) */ |
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return result;
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |